MIT Aerospace Controls Laboratory

see more code at https://gitlab.com/mit-acl

Cambridge, MA

Pinned Repositories

cadrl_ros
ROS package for dynamic obstacle avoidance for ground robots trained with deep RL
Language:Python657 22 25158
clipper
graph-theoretic framework for robust pairwise data association
Language:C++271 5 1244
dpgo
Distributed Pose Graph Optimization
Language:C++200 10 433
faster
3D Trajectory Planner in Unknown Environments
Language:C++1.1k 27 53195
gym-collision-avoidance
Language:OpenEdge ABL296 4 2076
mader
Trajectory Planner in Multi-Agent and Dynamic Environments
Language:C++570 14 2089
mppi_numba
A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.
Language:Jupyter Notebook255 5 320
panther
Perception-Aware Trajectory Planner in Dynamic Environments
Language:C++217 4 1135
rl_collision_avoidance
Training code for GA3C-CADRL algorithm (collision avoidance with deep RL)
Language:Python128 6 2530
roman
[RSS 2025] ROMAN: a view-invariant global localization method that matches objects from different robot views for reliable pose estimation even when a scene is observed from opposite views
Language:Python261 5 616

MIT Aerospace Controls Laboratory's Repositories

mit-acl/faster
3D Trajectory Planner in Unknown Environments
Language:C++1.1k 27 53195
mit-acl/clipper
graph-theoretic framework for robust pairwise data association
Language:C++271 5 1244
mit-acl/roman
[RSS 2025] ROMAN: a view-invariant global localization method that matches objects from different robot views for reliable pose estimation even when a scene is observed from opposite views
Language:Python261 5 616
mit-acl/mppi_numba
A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.
Language:Jupyter Notebook255 5 320
mit-acl/dpgo
Distributed Pose Graph Optimization
Language:C++200 10 433
mit-acl/rmader
Decentralized Multiagent Trajectory Planner Robust to Communication Delay
Language:C++105 4 512
mit-acl/roman_ros
ROS1/2 wrapper for ROMAN, a view-invariant global localization method
Language:Python93 4 111
mit-acl/minvo
Simplexes with Minimum Volume Enclosing Polynomial Curves
Language:MATLAB78 4 311
mit-acl/deep_panther
Language:C++72 3 1010
mit-acl/dpgo_ros
ROS wrapper for distributed pose graph optimization
Language:C++62 7 412
mit-acl/dynus
Language:Jupyter Notebook519
mit-acl/planning
List of planning algorithms developed at MIT-ACL
38 2 04
mit-acl/puma
PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment
Language:C++38 4 11
mit-acl/fastsam_ros
ROS wrapper for FastSAM, with docker
Language:Python19 2 01
mit-acl/lunarloc-data
Language:Python134
mit-acl/tcaff
A multiple hypothesis algorithm for aligning coordinate frames of collaborative robots
Language:Python13 5 30
mit-acl/REVISE
Language:Python5 3 00
mit-acl/murp-datasets
Language:Jupyter Notebook4 3 02
mit-acl/Batvik-seasonal-dataset-loader
Båtvik seasonal dataset loader
Language:Python3 3 1
mit-acl/CARV
Repo for robust training of NN controllers with verification tools
Language:Python31
mit-acl/multi_jackal
ROS packages for simulating multiple Jackals in Gazebo
Language:CMake2 0 01
mit-acl/ROMAN-project
Language:JavaScript2 0 0
mit-acl/16_06_Class
MIT 16.06 Spring 2025
Language:Jupyter Notebook1 3 00
mit-acl/mit-acl.github.io
Language:SCSS1 11 010
mit-acl/online_mhe_reachability
Git repo for the paper "Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances"
1 2 0
mit-acl/bibliography
Language:TeX0 11 02
mit-acl/motlee_ros
ROS wrapper for MOTLEE
Language:Python0 3 00
mit-acl/dynus-vlm
Language:Jupyter Notebook1
mit-acl/low_altitude_flight
Language:Jupyter Notebook
mit-acl/low_observability_planning
Language:Jupyter Notebook